Tardigrade Simulator

Gazebo Classic 11 simulator intended for the Tardigrade AUV. Requires ROS2 Foxy and Gazebo Classic 11 installed. Use with tardigrade_ws.

Setup

Clone repository and submodules

git clone --recurse-submodules https://github.com/berkeleyauv/simulator.git

If you've already cloned, then run

git submodule update --init --recursive

to clone submodules.

cd and build

cd simulator
colcon build --symlink-install

Then, to launch the world in Gazebo

ros2 launch simulator robosub.launch

Working with thrusters

To use the thrusters on the AUV, you must run the thruster_translate node. This node

• Subscribes to /tardigrade/thrusts
• Translates a Float64MultiArray message into FloatStamped
• Publishes commands to individual thruster topics

We must do this in order to avoid installing the entire Plankton package in tardigrade_ws.

Note

We are currently working on switching to the PX4 SITL, which will remove the need for our own controllers and the translator node.